pcl::octree::OctreeBase< LeafContainerT, BranchContainerT > Class Template Reference

Octree class. More...

#include <pcl/octree/octree_base.h>

Inheritance diagram for pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >:

Collaboration diagram for pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >:

Public Types
using	OctreeT = OctreeBase< LeafContainerT, BranchContainerT >
using	BranchNode = OctreeBranchNode< BranchContainerT >
using	LeafNode = OctreeLeafNode< LeafContainerT >
using	BranchContainer = BranchContainerT
using	LeafContainer = LeafContainerT
using	Iterator = OctreeDepthFirstIterator< OctreeT >
using	ConstIterator = OctreeDepthFirstIterator< const OctreeT >
using	LeafNodeIterator = OctreeLeafNodeDepthFirstIterator< OctreeT >
using	ConstLeafNodeIterator = OctreeLeafNodeDepthFirstIterator< const OctreeT >
using	LeafNodeDepthFirstIterator = OctreeLeafNodeDepthFirstIterator< OctreeT >
using	ConstLeafNodeDepthFirstIterator = OctreeLeafNodeDepthFirstIterator< const OctreeT >
using	DepthFirstIterator = OctreeDepthFirstIterator< OctreeT >
using	ConstDepthFirstIterator = OctreeDepthFirstIterator< const OctreeT >
using	BreadthFirstIterator = OctreeBreadthFirstIterator< OctreeT >
using	ConstBreadthFirstIterator = OctreeBreadthFirstIterator< const OctreeT >
using	FixedDepthIterator = OctreeFixedDepthIterator< OctreeT >
using	ConstFixedDepthIterator = OctreeFixedDepthIterator< const OctreeT >
using	LeafNodeBreadthFirstIterator = OctreeLeafNodeBreadthFirstIterator< OctreeT >
using	ConstLeafNodeBreadthFirstIterator = OctreeLeafNodeBreadthFirstIterator< const OctreeT >

Public Member Functions
Iterator	begin (uindex_t max_depth_arg=0u)
ConstIterator	begin (uindex_t max_depth_arg=0u) const
ConstIterator	cbegin (uindex_t max_depth_arg=0u) const
const Iterator	end ()
const ConstIterator	end () const
const ConstIterator	cend () const
LeafNodeDepthFirstIterator	leaf_depth_begin (uindex_t max_depth_arg=0u)
ConstLeafNodeDepthFirstIterator	leaf_depth_begin (uindex_t max_depth_arg=0u) const
const LeafNodeDepthFirstIterator	leaf_depth_end ()
const ConstLeafNodeDepthFirstIterator	leaf_depth_end () const
DepthFirstIterator	depth_begin (uindex_t max_depth_arg=0u)
ConstDepthFirstIterator	depth_begin (uindex_t max_depth_arg=0u) const
const DepthFirstIterator	depth_end ()
const ConstDepthFirstIterator	depth_end () const
BreadthFirstIterator	breadth_begin (uindex_t max_depth_arg=0u)
ConstBreadthFirstIterator	breadth_begin (uindex_t max_depth_arg=0u) const
const BreadthFirstIterator	breadth_end ()
const ConstBreadthFirstIterator	breadth_end () const
FixedDepthIterator	fixed_depth_begin (uindex_t fixed_depth_arg=0u)
ConstFixedDepthIterator	fixed_depth_begin (uindex_t fixed_depth_arg=0u) const
const FixedDepthIterator	fixed_depth_end ()
const ConstFixedDepthIterator	fixed_depth_end () const
LeafNodeBreadthFirstIterator	leaf_breadth_begin (uindex_t max_depth_arg=0u)
ConstLeafNodeBreadthFirstIterator	leaf_breadth_begin (uindex_t max_depth_arg=0u) const
const LeafNodeBreadthFirstIterator	leaf_breadth_end ()
const ConstLeafNodeBreadthFirstIterator	leaf_breadth_end () const
	OctreeBase ()
	Empty constructor. More...
virtual	~OctreeBase ()
	Empty deconstructor. More...
	OctreeBase (const OctreeBase &source)
	Copy constructor. More...
OctreeBase &	operator= (const OctreeBase &source)
	Copy operator. More...
void	setMaxVoxelIndex (uindex_t max_voxel_index_arg)
	Set the maximum amount of voxels per dimension. More...
void	setTreeDepth (uindex_t max_depth_arg)
	Set the maximum depth of the octree. More...
uindex_t	getTreeDepth () const
	Get the maximum depth of the octree. More...
LeafContainerT *	createLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg)
	Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
LeafContainerT *	findLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) const
	Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
bool	existLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) const
	idx_x_arg for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
void	removeLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg)
	Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
std::size_t	getLeafCount () const
	Return the amount of existing leafs in the octree. More...
std::size_t	getBranchCount () const
	Return the amount of existing branch nodes in the octree. More...
void	deleteTree ()
	Delete the octree structure and its leaf nodes. More...
void	serializeTree (std::vector< char > &binary_tree_out_arg) const
	Serialize octree into a binary output vector describing its branch node structure. More...
void	serializeTree (std::vector< char > &binary_tree_out_arg, std::vector< LeafContainerT * > &leaf_container_vector_arg) const
	Serialize octree into a binary output vector describing its branch node structure and push all LeafContainerT elements stored in the octree to a vector. More...
void	serializeLeafs (std::vector< LeafContainerT * > &leaf_container_vector_arg)
	Outputs a vector of all LeafContainerT elements that are stored within the octree leaf nodes. More...
void	deserializeTree (std::vector< char > &binary_tree_input_arg)
	Deserialize a binary octree description vector and create a corresponding octree structure. More...
void	deserializeTree (std::vector< char > &binary_tree_input_arg, std::vector< LeafContainerT * > &leaf_container_vector_arg)
	Deserialize a binary octree description and create a corresponding octree structure. More...

Protected Member Functions
LeafContainerT *	createLeaf (const OctreeKey &key_arg)
	Create a leaf node. More...
LeafContainerT *	findLeaf (const OctreeKey &key_arg) const
	Find leaf node. More...
bool	existLeaf (const OctreeKey &key_arg) const
	Check for existence of a leaf node in the octree. More...
void	removeLeaf (const OctreeKey &key_arg)
	Remove leaf node from octree. More...
OctreeNode *	getRootNode () const
	Retrieve root node. More...
bool	branchHasChild (const BranchNode &branch_arg, unsigned char child_idx_arg) const
	Check if branch is pointing to a particular child node. More...
OctreeNode *	getBranchChildPtr (const BranchNode &branch_arg, unsigned char child_idx_arg) const
	Retrieve a child node pointer for child node at child_idx. More...
void	setBranchChildPtr (BranchNode &branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg)
	Assign new child node to branch. More...
char	getBranchBitPattern (const BranchNode &branch_arg) const
	Generate bit pattern reflecting the existence of child node pointers. More...
void	deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Delete child node and all its subchilds from octree. More...
void	deleteBranch (BranchNode &branch_arg)
	Delete branch and all its subchilds from octree. More...
BranchNode *	createBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Create and add a new branch child to a branch class. More...
LeafNode *	createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Create and add a new leaf child to a branch class. More...
uindex_t	createLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg, LeafNode *&return_leaf_arg, BranchNode *&parent_of_leaf_arg)
	Create a leaf node at octree key. More...
void	findLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg, LeafContainerT *&result_arg) const
	Recursively search for a given leaf node and return a pointer. More...
bool	deleteLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg)
	Recursively search and delete leaf node. More...
void	serializeTreeRecursive (const BranchNode *branch_arg, OctreeKey &key_arg, std::vector< char > *binary_tree_out_arg, typename std::vector< LeafContainerT * > *leaf_container_vector_arg) const
	Recursively explore the octree and output binary octree description together with a vector of leaf node LeafContainerTs. More...
void	deserializeTreeRecursive (BranchNode *branch_arg, uindex_t depth_mask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_end_arg, typename std::vector< LeafContainerT * >::const_iterator *leaf_container_vector_it_arg, typename std::vector< LeafContainerT * >::const_iterator *leaf_container_vector_it_end_arg)
	Recursive method for deserializing octree structure. More...
virtual void	serializeTreeCallback (LeafContainerT &, const OctreeKey &) const
	Callback executed for every leaf node during serialization. More...
virtual void	deserializeTreeCallback (LeafContainerT &, const OctreeKey &)
	Callback executed for every leaf node during deserialization. More...
bool	octreeCanResize () const
	Test if octree is able to dynamically change its depth. More...

Protected Attributes
std::size_t	leaf_count_ {0}
	Amount of leaf nodes More...
std::size_t	branch_count_ {1}
	Amount of branch nodes More...
BranchNode *	root_node_
	Pointer to root branch node of octree More...
uindex_t	depth_mask_ {0}
	Depth mask based on octree depth More...
uindex_t	octree_depth_ {0}
	Octree depth. More...
bool	dynamic_depth_enabled_ {false}
	Enable dynamic_depth. More...
OctreeKey	max_key_
	key range More...

Friends
class	OctreeIteratorBase< OctreeT >
class	OctreeDepthFirstIterator< OctreeT >
class	OctreeBreadthFirstIterator< OctreeT >
class	OctreeFixedDepthIterator< OctreeT >
class	OctreeLeafNodeDepthFirstIterator< OctreeT >
class	OctreeLeafNodeBreadthFirstIterator< OctreeT >
class	OctreeIteratorBase< const OctreeT >
class	OctreeDepthFirstIterator< const OctreeT >
class	OctreeBreadthFirstIterator< const OctreeT >
class	OctreeFixedDepthIterator< const OctreeT >
class	OctreeLeafNodeDepthFirstIterator< const OctreeT >
class	OctreeLeafNodeBreadthFirstIterator< const OctreeT >

Detailed Description

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
class pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >

Octree class.

Note

The tree depth defines the maximum amount of octree voxels / leaf nodes (should be initially defined).

All leaf nodes are addressed by integer indices.

The tree depth equates to the bit length of the voxel indices.

Author

Julius Kammerl (juliu.nosp@m.s@ka.nosp@m.mmerl.nosp@m..de)

Definition at line 62 of file octree_base.h.

Member Typedef Documentation

BranchContainer

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::BranchContainer = BranchContainerT

Definition at line 69 of file octree_base.h.

BranchNode

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::BranchNode = OctreeBranchNode<BranchContainerT>

Definition at line 66 of file octree_base.h.

BreadthFirstIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::BreadthFirstIterator = OctreeBreadthFirstIterator<OctreeT>

Definition at line 222 of file octree_base.h.

ConstBreadthFirstIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::ConstBreadthFirstIterator = OctreeBreadthFirstIterator<const OctreeT>

Definition at line 223 of file octree_base.h.

ConstDepthFirstIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::ConstDepthFirstIterator = OctreeDepthFirstIterator<const OctreeT>

Definition at line 193 of file octree_base.h.

ConstFixedDepthIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::ConstFixedDepthIterator = OctreeFixedDepthIterator<const OctreeT>

Definition at line 253 of file octree_base.h.

ConstIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::ConstIterator = OctreeDepthFirstIterator<const OctreeT>

Definition at line 115 of file octree_base.h.

ConstLeafNodeBreadthFirstIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::ConstLeafNodeBreadthFirstIterator = OctreeLeafNodeBreadthFirstIterator<const OctreeT>

Definition at line 281 of file octree_base.h.

ConstLeafNodeDepthFirstIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::ConstLeafNodeDepthFirstIterator = OctreeLeafNodeDepthFirstIterator<const OctreeT>

Definition at line 162 of file octree_base.h.

ConstLeafNodeIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::ConstLeafNodeIterator = OctreeLeafNodeDepthFirstIterator<const OctreeT>

Definition at line 158 of file octree_base.h.

DepthFirstIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::DepthFirstIterator = OctreeDepthFirstIterator<OctreeT>

Definition at line 192 of file octree_base.h.

FixedDepthIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::FixedDepthIterator = OctreeFixedDepthIterator<OctreeT>

Definition at line 252 of file octree_base.h.

Iterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::Iterator = OctreeDepthFirstIterator<OctreeT>

Definition at line 114 of file octree_base.h.

LeafContainer

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::LeafContainer = LeafContainerT

Definition at line 70 of file octree_base.h.

LeafNode

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::LeafNode = OctreeLeafNode<LeafContainerT>

Definition at line 67 of file octree_base.h.

LeafNodeBreadthFirstIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::LeafNodeBreadthFirstIterator = OctreeLeafNodeBreadthFirstIterator<OctreeT>

Definition at line 280 of file octree_base.h.

LeafNodeDepthFirstIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::LeafNodeDepthFirstIterator = OctreeLeafNodeDepthFirstIterator<OctreeT>

Definition at line 161 of file octree_base.h.

LeafNodeIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::LeafNodeIterator = OctreeLeafNodeDepthFirstIterator<OctreeT>

Definition at line 157 of file octree_base.h.

OctreeT

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::OctreeT = OctreeBase<LeafContainerT, BranchContainerT>

Definition at line 64 of file octree_base.h.

Constructor & Destructor Documentation

OctreeBase() [1/2]

template<typename LeafContainerT , typename BranchContainerT >

pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::OctreeBase

Empty constructor.

Definition at line 48 of file octree_base.hpp.

~OctreeBase()

template<typename LeafContainerT , typename BranchContainerT >

pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::~OctreeBase

virtual

Empty deconstructor.

Definition at line 54 of file octree_base.hpp.

OctreeBase() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::OctreeBase ( const OctreeBase< LeafContainerT, BranchContainerT > &  source )

inline

Copy constructor.

Definition at line 317 of file octree_base.h.

Member Function Documentation

begin() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

Iterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::begin ( uindex_t  max_depth_arg = 0u )

inline

Definition at line 118 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_.

begin() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

ConstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::begin ( uindex_t  max_depth_arg = 0u ) const

inline

Definition at line 124 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_.

branchHasChild()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

bool pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::branchHasChild ( const BranchNode &  branch_arg, unsigned char  child_idx_arg  ) const

inlineprotected

Check if branch is pointing to a particular child node.

Parameters

branch_arg	reference to octree branch class
child_idx_arg	index to child node

Returns

"true" if pointer to child node exists; "false" otherwise

Definition at line 542 of file octree_base.h.

References pcl::octree::OctreeBranchNode< ContainerT >::getChildPtr().

breadth_begin() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

BreadthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::breadth_begin ( uindex_t  max_depth_arg = 0u )

inline

Definition at line 226 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_.

breadth_begin() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

ConstBreadthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::breadth_begin ( uindex_t  max_depth_arg = 0u ) const

inline

Definition at line 233 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_.

breadth_end() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

const BreadthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::breadth_end ( )

inline

Definition at line 240 of file octree_base.h.

breadth_end() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

const ConstBreadthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::breadth_end ( ) const

inline

Definition at line 246 of file octree_base.h.

cbegin()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

ConstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::cbegin ( uindex_t  max_depth_arg = 0u ) const

inline

Definition at line 130 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_.

cend()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

const ConstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::cend ( ) const

inline

Definition at line 148 of file octree_base.h.

createBranchChild()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

BranchNode* pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createBranchChild ( BranchNode &  branch_arg, unsigned char  child_idx_arg  )

inlineprotected

Create and add a new branch child to a branch class.

Parameters

branch_arg	reference to octree branch class
child_idx_arg	index to child node

Returns

pointer of new branch child to this reference

Definition at line 640 of file octree_base.h.

createLeaf() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

LeafContainerT* pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeaf ( const OctreeKey &  key_arg )

inlineprotected

Create a leaf node.

Parameters

key_arg

octree key addressing a leaf node.

Returns

pointer to leaf node

Definition at line 480 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeafRecursive(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::OctreeLeafNode< ContainerT >::getContainerPtr(), and pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::root_node_.

createLeaf() [2/2]

template<typename LeafContainerT , typename BranchContainerT >

LeafContainerT * pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeaf	(	uindex_t	idx_x_arg,
		uindex_t	idx_y_arg,
		uindex_t	idx_z_arg
	)

Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).

Note

If leaf node already exist, this method returns the existing node

Parameters

idx_x_arg	index of leaf node in the X axis.
idx_y_arg	index of leaf node in the Y axis.
idx_z_arg	index of leaf node in the Z axis.

Returns

pointer to new leaf node container.

Definition at line 129 of file octree_base.hpp.

Referenced by pcl::octree::OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT >::setOccupiedVoxelAtPoint().

createLeafChild()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

LeafNode* pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeafChild ( BranchNode &  branch_arg, unsigned char  child_idx_arg  )

inlineprotected

Create and add a new leaf child to a branch class.

Parameters

branch_arg	reference to octree branch class
child_idx_arg	index to child node

Returns

pointer of new leaf child to this reference

Definition at line 654 of file octree_base.h.

createLeafRecursive()

template<typename LeafContainerT , typename BranchContainerT >

uindex_t pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeafRecursive ( const OctreeKey &  key_arg, uindex_t  depth_mask_arg, BranchNode *  branch_arg, LeafNode *&  return_leaf_arg, BranchNode *&  parent_of_leaf_arg  )

protected

Create a leaf node at octree key.

If leaf node does already exist, it is returned.

Parameters

key_arg	reference to an octree key
depth_mask_arg	depth mask used for octree key analysis and for branch depth indicator
branch_arg	current branch node
return_leaf_arg	return pointer to leaf node
parent_of_leaf_arg	return pointer to parent of leaf node

Returns

depth mask at which leaf node was created

Definition at line 293 of file octree_base.hpp.

References pcl::octree::OctreeKey::getChildIdxWithDepthMask().

Referenced by pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeaf().

deleteBranch()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deleteBranch ( BranchNode &  branch_arg )

inlineprotected

Delete branch and all its subchilds from octree.

Parameters

branch_arg

reference to octree branch class

Definition at line 627 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deleteBranchChild().

Referenced by pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deleteBranchChild().

deleteBranchChild()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deleteBranchChild ( BranchNode &  branch_arg, unsigned char  child_idx_arg  )

inlineprotected

Delete child node and all its subchilds from octree.

Parameters

branch_arg	reference to octree branch class
child_idx_arg	index to child node

Definition at line 596 of file octree_base.h.

References pcl::octree::BRANCH_NODE, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deleteBranch(), pcl::octree::OctreeNode::getNodeType(), pcl::octree::OctreeBranchNode< ContainerT >::hasChild(), and pcl::octree::LEAF_NODE.

Referenced by pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deleteBranch().

deleteLeafRecursive()

template<typename LeafContainerT , typename BranchContainerT >

bool pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deleteLeafRecursive ( const OctreeKey &  key_arg, uindex_t  depth_mask_arg, BranchNode *  branch_arg  )

protected

Recursively search and delete leaf node.

Parameters

key_arg	reference to an octree key
depth_mask_arg	depth mask used for octree key analysis and branch depth indicator
branch_arg	current branch node

Returns

"true" if current branch contains child(ren); "false" otherwise. If it's true, current branch cannot be deleted.

Definition at line 391 of file octree_base.hpp.

Referenced by pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::removeLeaf().

deleteTree()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deleteTree

Delete the octree structure and its leaf nodes.

Definition at line 171 of file octree_base.hpp.

depth_begin() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

DepthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::depth_begin ( uindex_t  max_depth_arg = 0u )

inline

Definition at line 196 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_.

depth_begin() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

ConstDepthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::depth_begin ( uindex_t  max_depth_arg = 0u ) const

inline

Definition at line 203 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_.

depth_end() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

const DepthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::depth_end ( )

inline

Definition at line 210 of file octree_base.h.

depth_end() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

const ConstDepthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::depth_end ( ) const

inline

Definition at line 216 of file octree_base.h.

deserializeTree() [1/2]

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deserializeTree

(

std::vector< char > &

binary_tree_input_arg

)

Deserialize a binary octree description vector and create a corresponding octree structure.

Leaf nodes are initialized with getDataTByKey(..).

Parameters

binary_tree_input_arg

reference to input vector for reading binary tree structure.

Definition at line 238 of file octree_base.hpp.

deserializeTree() [2/2]

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deserializeTree	(	std::vector< char > &	binary_tree_input_arg,
		std::vector< LeafContainerT * > &	leaf_container_vector_arg
	)

Deserialize a binary octree description and create a corresponding octree structure.

Leaf nodes are initialized with LeafContainerT elements from the dataVector.

Parameters

binary_tree_input_arg	reference to input vector for reading binary tree structure.
leaf_container_vector_arg	pointer to container vector.

Definition at line 262 of file octree_base.hpp.

deserializeTreeCallback()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

virtual void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deserializeTreeCallback ( LeafContainerT &  , const OctreeKey &    )

inlineprotectedvirtual

Callback executed for every leaf node during deserialization.

Definition at line 762 of file octree_base.h.

deserializeTreeRecursive()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deserializeTreeRecursive ( BranchNode *  branch_arg, uindex_t  depth_mask_arg, OctreeKey &  key_arg, typename std::vector< char >::const_iterator &  binary_tree_input_it_arg, typename std::vector< char >::const_iterator &  binary_tree_input_it_end_arg, typename std::vector< LeafContainerT * >::const_iterator *  leaf_container_vector_it_arg, typename std::vector< LeafContainerT * >::const_iterator *  leaf_container_vector_it_end_arg  )

protected

Recursive method for deserializing octree structure.

Parameters

branch_arg	current branch node
depth_mask_arg	depth mask used for octree key analysis and branch depth indicator
key_arg	reference to an octree key
binary_tree_input_it_arg	iterator to binary input vector
binary_tree_input_it_end_arg	end iterator of binary input vector
leaf_container_vector_it_arg	iterator pointing to current LeafContainerT object to be added to a leaf node
leaf_container_vector_it_end_arg	iterator pointing to last object in LeafContainerT input vector.

Definition at line 500 of file octree_base.hpp.

References pcl::octree::OctreeKey::popBranch(), and pcl::octree::OctreeKey::pushBranch().

end() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

const Iterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::end ( )

inline

Definition at line 136 of file octree_base.h.

end() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

const ConstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::end ( ) const

inline

Definition at line 142 of file octree_base.h.

existLeaf() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

bool pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::existLeaf ( const OctreeKey &  key_arg ) const

inlineprotected

Check for existence of a leaf node in the octree.

Parameters

key_arg

octree key addressing a leaf node.

Returns

"true" if leaf node is found; "false" otherwise

Definition at line 510 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::findLeaf().

existLeaf() [2/2]

template<typename LeafContainerT , typename BranchContainerT >

bool pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::existLeaf	(	uindex_t	idx_x_arg,
		uindex_t	idx_y_arg,
		uindex_t	idx_z_arg
	)		const

idx_x_arg for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).

Parameters

idx_x_arg	index of leaf node in the X axis.
idx_y_arg	index of leaf node in the Y axis.
idx_z_arg	index of leaf node in the Z axis.

Returns

"true" if leaf node search is successful, otherwise it returns "false".

Definition at line 143 of file octree_base.hpp.

findLeaf() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

LeafContainerT* pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::findLeaf ( const OctreeKey &  key_arg ) const

inlineprotected

Find leaf node.

Parameters

key_arg

octree key addressing a leaf node.

Returns

pointer to leaf node. If leaf node is not found, this pointer returns 0.

Definition at line 498 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::findLeafRecursive(), and pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::root_node_.

findLeaf() [2/2]

template<typename LeafContainerT , typename BranchContainerT >

LeafContainerT * pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::findLeaf	(	uindex_t	idx_x_arg,
		uindex_t	idx_y_arg,
		uindex_t	idx_z_arg
	)		const

Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).

Note

If leaf node already exist, this method returns the existing node

Parameters

idx_x_arg	index of leaf node in the X axis.
idx_y_arg	index of leaf node in the Y axis.
idx_z_arg	index of leaf node in the Z axis.

Returns

pointer to leaf node container if found, null pointer otherwise.

Definition at line 115 of file octree_base.hpp.

Referenced by pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::existLeaf().

findLeafRecursive()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::findLeafRecursive ( const OctreeKey &  key_arg, uindex_t  depth_mask_arg, BranchNode *  branch_arg, LeafContainerT *&  result_arg  ) const

protected

Recursively search for a given leaf node and return a pointer.

Note

If leaf node does not exist, a 0 pointer is returned.

Parameters

key_arg	reference to an octree key
depth_mask_arg	depth mask used for octree key analysis and for branch depth indicator
branch_arg	current branch node
result_arg	pointer to leaf node class

Definition at line 353 of file octree_base.hpp.

References pcl::octree::BRANCH_NODE, pcl::octree::OctreeKey::getChildIdxWithDepthMask(), and pcl::octree::OctreeNode::getNodeType().

Referenced by pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::findLeaf().

fixed_depth_begin() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

FixedDepthIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::fixed_depth_begin ( uindex_t  fixed_depth_arg = 0u )

inline

Definition at line 256 of file octree_base.h.

fixed_depth_begin() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

ConstFixedDepthIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::fixed_depth_begin ( uindex_t  fixed_depth_arg = 0u ) const

inline

Definition at line 262 of file octree_base.h.

fixed_depth_end() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

const FixedDepthIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::fixed_depth_end ( )

inline

Definition at line 268 of file octree_base.h.

fixed_depth_end() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

const ConstFixedDepthIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::fixed_depth_end ( ) const

inline

Definition at line 274 of file octree_base.h.

getBranchBitPattern()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

char pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::getBranchBitPattern ( const BranchNode &  branch_arg ) const

inlineprotected

Generate bit pattern reflecting the existence of child node pointers.

Parameters

branch_arg

reference to octree branch class

Returns

a single byte with 8 bits of child node information

Definition at line 577 of file octree_base.h.

References pcl::octree::OctreeBranchNode< ContainerT >::getChildPtr().

getBranchChildPtr()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

OctreeNode* pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::getBranchChildPtr ( const BranchNode &  branch_arg, unsigned char  child_idx_arg  ) const

inlineprotected

Retrieve a child node pointer for child node at child_idx.

Parameters

branch_arg	reference to octree branch class
child_idx_arg	index to child node

Returns

pointer to octree child node class

Definition at line 554 of file octree_base.h.

References pcl::octree::OctreeBranchNode< ContainerT >::getChildPtr().

getBranchCount()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

std::size_t pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::getBranchCount ( ) const

inline

Return the amount of existing branch nodes in the octree.

Returns

amount of branch nodes.

Definition at line 415 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::branch_count_.

getLeafCount()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

std::size_t pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::getLeafCount ( ) const

inline

Return the amount of existing leafs in the octree.

Returns

amount of registered leaf nodes.

Definition at line 406 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_count_.

getRootNode()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

OctreeNode* pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::getRootNode ( ) const

inlineprotected

Retrieve root node.

Definition at line 531 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::root_node_.

getTreeDepth()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

uindex_t pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::getTreeDepth ( ) const

inline

Get the maximum depth of the octree.

Returns

depth_arg: maximum depth of octree

Definition at line 359 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_.

leaf_breadth_begin() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

LeafNodeBreadthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_breadth_begin ( uindex_t  max_depth_arg = 0u )

inline

Definition at line 285 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_.

leaf_breadth_begin() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

ConstLeafNodeBreadthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_breadth_begin ( uindex_t  max_depth_arg = 0u ) const

inline

Definition at line 292 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_.

leaf_breadth_end() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

const LeafNodeBreadthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_breadth_end ( )

inline

Definition at line 299 of file octree_base.h.

leaf_breadth_end() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

const ConstLeafNodeBreadthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_breadth_end ( ) const

inline

Definition at line 305 of file octree_base.h.

leaf_depth_begin() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

LeafNodeDepthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_depth_begin ( uindex_t  max_depth_arg = 0u )

inline

Definition at line 166 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_.

leaf_depth_begin() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

ConstLeafNodeDepthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_depth_begin ( uindex_t  max_depth_arg = 0u ) const

inline

Definition at line 173 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_.

leaf_depth_end() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

const LeafNodeDepthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_depth_end ( )

inline

Definition at line 180 of file octree_base.h.

leaf_depth_end() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

const ConstLeafNodeDepthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_depth_end ( ) const

inline

Definition at line 186 of file octree_base.h.

octreeCanResize()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

bool pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octreeCanResize ( ) const

inlineprotected

Test if octree is able to dynamically change its depth.

This is required for adaptive bounding box adjustment.

Returns

"true"

Definition at line 774 of file octree_base.h.

operator=()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

OctreeBase& pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::operator= ( const OctreeBase< LeafContainerT, BranchContainerT > &  source )

inline

Copy operator.

Definition at line 329 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::branch_count_, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::dynamic_depth_enabled_, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_count_, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::max_key_, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_, and pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::root_node_.

removeLeaf() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::removeLeaf ( const OctreeKey &  key_arg )

inlineprotected

Remove leaf node from octree.

Parameters

key_arg

octree key addressing a leaf node.

Definition at line 519 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deleteLeafRecursive(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::max_key_, and pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::root_node_.

removeLeaf() [2/2]

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::removeLeaf	(	uindex_t	idx_x_arg,
		uindex_t	idx_y_arg,
		uindex_t	idx_z_arg
	)

Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).

Parameters

idx_x_arg	index of leaf node in the X axis.
idx_y_arg	index of leaf node in the Y axis.
idx_z_arg	index of leaf node in the Z axis.

Definition at line 157 of file octree_base.hpp.

serializeLeafs()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::serializeLeafs

(

std::vector< LeafContainerT * > &

leaf_container_vector_arg

)

Outputs a vector of all LeafContainerT elements that are stored within the octree leaf nodes.

Parameters

leaf_container_vector_arg

pointers to LeafContainerT vector that receives a copy of all LeafContainerT objects in the octree.

Definition at line 222 of file octree_base.hpp.

serializeTree() [1/2]

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::serializeTree

(

std::vector< char > &

binary_tree_out_arg

)

const

Serialize octree into a binary output vector describing its branch node structure.

Parameters

binary_tree_out_arg

reference to output vector for writing binary tree structure.

Definition at line 185 of file octree_base.hpp.

serializeTree() [2/2]

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::serializeTree	(	std::vector< char > &	binary_tree_out_arg,
		std::vector< LeafContainerT * > &	leaf_container_vector_arg
	)		const

Serialize octree into a binary output vector describing its branch node structure and push all LeafContainerT elements stored in the octree to a vector.

Parameters

binary_tree_out_arg	reference to output vector for writing binary tree structure.
leaf_container_vector_arg	pointer to all LeafContainerT objects in the octree

Definition at line 201 of file octree_base.hpp.

serializeTreeCallback()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

virtual void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::serializeTreeCallback ( LeafContainerT &  , const OctreeKey &    ) const

inlineprotectedvirtual

Callback executed for every leaf node during serialization.

Definition at line 756 of file octree_base.h.

serializeTreeRecursive()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::serializeTreeRecursive ( const BranchNode *  branch_arg, OctreeKey &  key_arg, std::vector< char > *  binary_tree_out_arg, typename std::vector< LeafContainerT * > *  leaf_container_vector_arg  ) const

protected

Recursively explore the octree and output binary octree description together with a vector of leaf node LeafContainerTs.

Parameters

branch_arg	current branch node
key_arg	reference to an octree key
binary_tree_out_arg	binary output vector
leaf_container_vector_arg	writes LeafContainerT pointers to this LeafContainerT* vector.

Definition at line 443 of file octree_base.hpp.

setBranchChildPtr()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::setBranchChildPtr ( BranchNode &  branch_arg, unsigned char  child_idx_arg, OctreeNode *  new_child_arg  )

inlineprotected

Assign new child node to branch.

Parameters

branch_arg	reference to octree branch class
child_idx_arg	index to child node
new_child_arg	pointer to new child node

Definition at line 565 of file octree_base.h.

setMaxVoxelIndex()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::setMaxVoxelIndex

(

uindex_t

max_voxel_index_arg

)

Set the maximum amount of voxels per dimension.

Parameters

[in]

max_voxel_index_arg

maximum amount of voxels per dimension

Definition at line 64 of file octree_base.hpp.

References pcl::octree::OctreeKey::maxDepth.

setTreeDepth()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::setTreeDepth

(

uindex_t

max_depth_arg

)

Set the maximum depth of the octree.

Parameters

max_depth_arg

maximum depth of octree

Definition at line 87 of file octree_base.hpp.

References pcl::octree::OctreeKey::maxDepth.

Friends And Related Function Documentation

OctreeBreadthFirstIterator< const OctreeT >

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

friend class OctreeBreadthFirstIterator< const OctreeT >

friend

Definition at line 96 of file octree_base.h.

OctreeBreadthFirstIterator< OctreeT >

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

friend class OctreeBreadthFirstIterator< OctreeT >

friend

Definition at line 96 of file octree_base.h.

OctreeDepthFirstIterator< const OctreeT >

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

friend class OctreeDepthFirstIterator< const OctreeT >

friend

Definition at line 96 of file octree_base.h.

OctreeDepthFirstIterator< OctreeT >

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

friend class OctreeDepthFirstIterator< OctreeT >

friend

Definition at line 96 of file octree_base.h.

OctreeFixedDepthIterator< const OctreeT >

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

friend class OctreeFixedDepthIterator< const OctreeT >

friend

Definition at line 96 of file octree_base.h.

OctreeFixedDepthIterator< OctreeT >

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

friend class OctreeFixedDepthIterator< OctreeT >

friend

Definition at line 96 of file octree_base.h.

OctreeIteratorBase< const OctreeT >

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

friend class OctreeIteratorBase< const OctreeT >

friend

Definition at line 96 of file octree_base.h.

OctreeIteratorBase< OctreeT >

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

friend class OctreeIteratorBase< OctreeT >

friend

Definition at line 96 of file octree_base.h.

OctreeLeafNodeBreadthFirstIterator< const OctreeT >

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

friend class OctreeLeafNodeBreadthFirstIterator< const OctreeT >

friend

Definition at line 96 of file octree_base.h.

OctreeLeafNodeBreadthFirstIterator< OctreeT >

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

friend class OctreeLeafNodeBreadthFirstIterator< OctreeT >

friend

Definition at line 96 of file octree_base.h.

OctreeLeafNodeDepthFirstIterator< const OctreeT >

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

friend class OctreeLeafNodeDepthFirstIterator< const OctreeT >

friend

Definition at line 96 of file octree_base.h.

OctreeLeafNodeDepthFirstIterator< OctreeT >

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

friend class OctreeLeafNodeDepthFirstIterator< OctreeT >

friend

Definition at line 96 of file octree_base.h.

Member Data Documentation

branch_count_

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

std::size_t pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::branch_count_ {1}

protected

Amount of branch nodes

Definition at line 81 of file octree_base.h.

Referenced by pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::getBranchCount(), and pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::operator=().

depth_mask_

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

uindex_t pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::depth_mask_ {0}

protected

Depth mask based on octree depth

Definition at line 87 of file octree_base.h.

Referenced by pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeaf(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::findLeaf(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::operator=(), and pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::removeLeaf().

dynamic_depth_enabled_

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

bool pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::dynamic_depth_enabled_ {false}

protected

Enable dynamic_depth.

Definition at line 93 of file octree_base.h.

Referenced by pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::operator=().

leaf_count_

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

std::size_t pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_count_ {0}

protected

Amount of leaf nodes

Definition at line 78 of file octree_base.h.

Referenced by pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::getLeafCount(), and pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::operator=().

max_key_

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

OctreeKey pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::max_key_

protected

key range

Definition at line 96 of file octree_base.h.

Referenced by pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::operator=(), and pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::removeLeaf().

octree_depth_

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

uindex_t pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_ {0}

protected

Octree depth.

Definition at line 90 of file octree_base.h.

Referenced by pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::begin(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::breadth_begin(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::cbegin(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::depth_begin(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::getTreeDepth(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_breadth_begin(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_depth_begin(), and pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::operator=().

root_node_

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>

BranchNode* pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::root_node_

protected

Pointer to root branch node of octree

Definition at line 84 of file octree_base.h.

Referenced by pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeaf(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::findLeaf(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::getRootNode(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::operator=(), and pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::removeLeaf().

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The documentation for this class was generated from the following files:

• pcl/octree/octree_base.h
• pcl/octree/impl/octree_base.hpp